Engineering Mechanics

Dynamics
Eighth Edition
J.L.Meriam L.G.Kraige J.N.Bolton

Chapter 2
Kinematics of Particles

Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
Kinematics of Particles

Even if this car maintains a

constant speed along the
winding road, it accelerates
laterally.
This acceleration must be
considered in the design of
the car, tires and road.

Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 Particles Motion
The figure shows a
particle P moving
along some general
path in space.
If the particle is
confined to specified
path, its motion is said
to be constrained.
If there are no physical
guides, it is said to be
unconstrained

Fig_2-1 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
Rectilinear Motion

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 Velocity and Acceleration

Eq_2-1 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
Velocity and Acceleration

Equation 2/1,2/2,2/3 are the differential equation

for the rectilinear motion of a particle.

The position coordinates s, the velocity v , and the

acceleration a are algebraic quantities, so that
their signs, positive or negative must be carefully
observed.

Note that the positive direction for v and a are the

same as the positive direction for s

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 The Sprinter will undergo rectilinear acceleration until he reaches his terminal speed

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 Graphical Interpretation

Fig_2-3 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
Fig_2-4 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 Plane Curvilinear Motion

Fig_2-5 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
Plane Curvilinear Motion

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 Velocity
The instantaneous velocity v of the particle is defined as the limiting
value of the average velocity as the time interval approaches zero.
Thus,

We now extend the basic definition of the derivative of a scalar

quantity to include a vector quantity and write

Eq_2-4 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 Acceleration

Eq_2-5 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 Visualization of Motion

Fig_2-6 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
Visualization of Motion

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 Rectangular Coordinates

Fig_2-7 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
Rectangular Coordinates
The particle path of Fig. 2/5 is shown again in
Fig. 2/7 along with x- and y-axes. The position
vector r, the velocity v, and the acceleration a
of the particle as developed in Art. 2/3 are
represented in Fig. 2/7 together with their x-
and y components.

Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
Vector Representation

With the aid of the unit vectors i and j, we

can write the vectors r, v, and a in terms
of their x- and y-components.

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Projectile Motion
For the axes shown in Fig. 2/8, the acceleration components
are

Integration of these accelerations follows the results obtained

previously
in Art. 2/2a for constant acceleration and yields

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Fig_2-8 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 This stroboscopic photograph of a bouncing ping-pong ball suggest
not only the parabolic nature of the path, but also the fact that the
speed is lower near the apex.

Page_47 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
Normal and Tangential
Coordinates (n-t)
The particle advances from A to B to
C.
The positive direction for n at any
position is always taken toward the
center of curvature of the path.
As seen from Fig. 2/9, the positive n-
direction will shift from one side of the
curve to the other side if the curvature
changes direction.

Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
Fig_2-9 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 Velocity and Acceleration

Eq_2-7 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
Eq_2-8 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
Fig_2-10 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 The paths of these two
sailplanes strongly
suggest the use of path
coordinates such as a
normal-tangential
system.

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Fig_2-11 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 Circular Motion

Eq_2-11 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
Fig_2-12 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 An example of uniform circular motion is this car moving with
constant speed around a wet skidpad (a circular roadway with a
diameter of about 200 feet).

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Fig_2-13 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 Velocity
Using the rule for differentiating the product of a scalar and a vector
gives :

With the substitution of from Eq. 2/12, the vector expression for the
velocity becomes :

Eq_2-13 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 Acceleration

Eq_2-14 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 Geometric Interpretation

Fig_2-14 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
Fig_2-15 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 The total acceleration a and its
components are represented in Fig.
2/15. If a has a component normal to
the path, we know from our analysis
of n- and t-components in Art. 2/5 that
the sense of the n-component
must be toward the center of
curvature.

Fig_2-16 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 Rectangular Coordinates (x-y-z)
The extension from two to three dimensions offers no particular
difficulty.
We merely add the z-coordinate and its two time derivatives to
the two-dimensional expressions of Eqs. 2/6 so that the position
vector R, the velocity v, and the acceleration a become

Eq_2-15 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 In place of Eq. 2/13 for plane motion, we can write the velocity as :

Where :

Eq_2-16 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 Similarly, the acceleration is written by adding the z-component to Eq.
2/14, which gives us:

Where :

Eq_2-17 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 With base rotation and ladder
elevation, spherical coordinates would
be a good choice for determining the
acceleration of the upper end of the
extending ladder.

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 The resulting expression for v and r are

Where :

Eq_2-18 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 And

Where :

Eq_2-19 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 A portion of the track of this
amusement park ride is in the shape of
a helix whose axis is horizontal

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 Relative motion is a critical issue in the
mid air refuelling of aircraft

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 Vector Representation

Fig_2-17 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 Differentiate this vector equation once with respect to time to obtain
velocities and twice to obtain acceleration.

Eq_2-20 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
 Additional Considerations

The selection of the moving point B for

attachment of the reference coordinate
system is arbitrary. As shown in Fig. 2/18,
point A could be used just as well for the
attachment of the moving system, in
which case the three corresponding
relative-motion equations for position,
velocity, and acceleration are :

Fig_2-18 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
One Degree of Freedom

Consider first the very simple system of two interconnected particles

A and B shown in Fig. 2/19. It should be quite evident by inspection
that the horizontal motion of A is twice the vertical motion of B.

Nevertheless we will use this example to illustrate the method of

analysis which applies to more complex situations where the results
cannot be easily obtained by inspection. The motion of B is clearly the
same as that of the center of its pulley, so we establish position
coordinates y and x measured from a convenient fixed datum. The total
length of the cable is :

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Fig_2-19 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
Two Degree of Freedom

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Fig_2-20 Copyright 2016 John Wiley & Sons, Inc. All rights reserved.
Copyright 2016 John Wiley & Sons, Inc. All rights reserved.